Problem: The end-effector must be mounted above the boxes, but thin enough to fit between an overhead obstruction and the top of the highest box. The operator needs to reach the controls on the end-effector when they are positioning the first bottom layer and top layer.

Application: Remove cardboard box from a conveyor and stack onto a floor pallet. Work cell has limited space.

Solution: AJB (Articulated Jib Boom) mounted on a pedestal with an air balancer mounted at the middle joint, to reduce overhead space. A reeve end-of-arm mechanism to reduce manipulator and end-effector space. End effector consists of a light-weight vacuum tool.